Examples and tips
PROGRAMMING MANUAL 245
Revision 3.0
You must initialize the absolute encoder before you use it
for the first time, when the battery is lost during power off
and when the multiturn limit setting in the parameter
Pn205 is changed. The initialization can be done on the
display of the Servo Driver or with the software tool. For
more detail on initialising absolute encoder, please see
the Sigma-II Servo Driver manual.
It is possible to reset the multiturn counter, but it is not
possible to reset the position within one turn (the fraction
from 0 to and excluding 1). To adjust zero offset, use the
parameter Pn808. For more details see the NS115
MECHATROLINK-II Interface Unit manual.
At power up, the absolute encoder position is read from
the motor and written to MPOS using the following con-
version:
• For MPOS:
• This is correct if:
• If this value is greater than 5,000,000, MPOS can
have incorrect values at start-up. To avoid this prob-
lem, add the program code DEFPOS = ENCODER/
UNITS after all UNITS initializations.
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